This ros node firstly subscribe the topic (/imu), then publish the content with new topic name (/imu2). calculate the translation based on the axis acc. the translation is published as topic (/translation).
imu is a sensor to measure the acceleration of objects,
subscriber:
/imu
publisher:
/imu2
/translation
$ cd $HOME
$ mkdir template_ros/src
$ cd template_ros/src
$ git clone https://github.com/weisongwen/ros_class.git
$ cd ..
$ catkin_make
$ cd $HOME/template_ros
$ source devel/setup.bash
$ roslaunch ivactuator starup.launch
$ cd $HOME/template_ros/src/ivactuator/data
$ rosbag play imu.bag
$ cd $HOME/template_ros
$ source devel/setup.bash
$ roslaunch ivactuator starup.launch
$ cd $HOME/template_ros/src/ivactuator/data
$ rosbag play imu.bag
$ rostopic echo /imu
header:
seq: 7706
stamp:
secs: 1488703480
nsecs: 392411775
frame_id: imu_link
orientation:
x: 0.0397092215717
y: 0.00633058696985
z: 0.172644585371
w: 0.984162986279
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: 0.00770223420113
y: 0.0133386412635
z: 0.298744618893
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -0.462217539549
y: 0.82411634922
z: 10.5903949738
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 7707
stamp:
secs: 1488703480
nsecs: 400926097
frame_id: imu_link
orientation:
x: 0.0397337637842
y: 0.00631054723635
z: 0.17284142971
w: 0.984127640724
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: 0.00446937792003
y: 0.0157519895583
z: 0.297159343958
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -0.761591672897
y: 0.844375252724
z: 10.3588495255
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 7708
stamp:
secs: 1488703480
nsecs: 412612312
frame_id: imu_link
orientation:
x: 0.0397733263671
y: 0.00629096990451
z: 0.173106268048
w: 0.984079658985
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: 0.00744306994602
y: 0.014955855906
z: 0.299250811338
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -1.03676986694
y: 0.68077814579
z: 10.4217367172
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
If there is any thing inappropriate, please contact me through weisong.wen@berkeley.edu (Weisong WEN).
Copyright (c) 2018 Weisong WEN
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